WO2005081057A1 - Method and apparatus for providing a combined image - Google Patents
Method and apparatus for providing a combined image Download PDFInfo
- Publication number
- WO2005081057A1 WO2005081057A1 PCT/SG2005/000044 SG2005000044W WO2005081057A1 WO 2005081057 A1 WO2005081057 A1 WO 2005081057A1 SG 2005000044 W SG2005000044 W SG 2005000044W WO 2005081057 A1 WO2005081057 A1 WO 2005081057A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- images
- stitching
- cameras
- image
- combined image
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000004364 calculation method Methods 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 9
- 239000000872 buffer Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 2
- 238000013519 translation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004091 panning Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
Definitions
- This invention relates to a method and apparatus for providing a combined image and refers particularly, though not exclusively, to such a method and apparatus for providing a combined image from a plurality of images.
- Panoramic images are images over a wide angle. In normal photography panoramic images are normally taken by having a sequence of successive images that are subsequently joined, or stitched together, to form the combined image. When the images are taken simultaneously using a plurality of cameras, the images are normally displayed separately. For video camera security, video conferencing, and other similar applications, this means multiple cameras, and multiple displays, must be used for continuous panoramic imaging.
- one or more of the cameras may be a pan/tilt camera. This requires the pan/tilt cameras to have an operator to move the camera's field of vision, or a servomotor to move the camera.
- the servomotor may be operated remotely and/or automatically.
- the camera is covering only a part of its maximum field of view at any one time. The consequence is that another part of its maximum field of view is not covered at any one time. This is unsatisfactory.
- wide-angle lenses may be used to reduce the impact of the loss of coverage, the distortion introduced, particularly at higher off-axis angles, is also unsatisfactory.
- a wide-angle lens also requires a higher resolution image sensor to maintain the same resolution.
- a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras each having an image system for taking an image of the plurality of images comprising: (a) generating the plurality of images in each of the plurality of cameras;
- a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras each having an image system for taking an image of the plurality of images comprising:
- a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras each having an image system for taking an image of the plurality of images comprising:
- a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras, each of the plurality of cameras having an image system for taking an image of the plurality of images comprising: (a) generating the plurality of images in each of the plurality of cameras; (b) performing overlap calculations to determine overlap regions of the plurality of images;
- step (d) using the results of step (b) for all subsequent pluralities of images from the plurality of cameras.
- a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras each having an image system for taking an image of the plurality of images comprising: (a) generating the plurality of images in each of the plurality of cameras; (b) selecting a presentation style for the combined image; and (c) stitching the plurality of images to form the combined image in the presentation style, stitching being by a stitcher disguised as a virtual camera.
- a method of producing a combined video image from a plurality of video images each produced by one of a plurality of video cameras each having an image system for taking an image of the plurality of images comprising:
- a penultimate aspect of the invention provides a method for providing a combined image from a plurality of images each produced by one of a plurality of cameras each having an image system for taking an image of the plurality of images, the method comprising the steps: (a) generating the plurality of images in each of the plurality of cameras; (b) performing overlap calculations to determine overlap regions of the plurality of images; (a) using the overlap calculations to perform colour correction in the plurality of images; and
- a final aspect of the invention provides apparatus for providing a combined image, the apparatus comprising
- Each camera may have a buffer, and they may be in a common body, or may be separate.
- Figure 1 is a perspective view of a preferred form of combined camera
- Figure 2 is a perspective view of a second form of a combined camera
- Figure 3 is a block diagram of the apparatus of Figures 1 and 2;
- Figure 4 is a flow chart of the virtual camera of Figure 2.
- Figure 5 is a representation of various presentation styles.
- one approach to create a real-time combined video stream is to use multiple cameras 10. Although three are shown, this is for convenience. The number used may be any appropriate number from two up. If enough cameras were used, the field of view could be 360° in one plane. It could be spherical.
- the image sensors 12 in a multiple-camera can either be separate entities as shown in Figure 1, or combined into a single camera body 14 as shown in Figure 2. Either way, each image sensor 12 of the multiple cameras provides a partial view of the target scene.
- the fields of view of each camera 10 overlaps with the field of view of the adjacent camera 10, and the video streams from each camera are stitched together using a stitcher into a single, combined video. If the cameras 10 are separate entities as shown in Figure 1 they may be separate but relatively close as if in a cluster; or may be separate and remote from each other. If remote, it is still preferred for the fields of view to overlap.
- the multiple- camera configuration As compared to a single camera with mechanical pan tilt motor, the multiple- camera configuration has the advantage of no moving parts which makes it free from mechanical failure. It has the additional benefit of capturing the entire scene all the time, behaving like a wide-angle lens camera, but without the associated distortion and loss of image data, particularly at wide, off-axis angles. Unlike a single wide-angle lens camera, which has a single image sensor, the multiple- camera configuration is scalable to wider view, and provides higher resolution due to the usage of multiple image sensors.
- a multiple-camera system is useable using existing cameras and video applications, such as video conferencing and web casting applications, on a standard computer.
- existing video applications can be used.
- One way for it to work with existing video applications is to disguise a stitcher as a virtual camera ( Figure 3) that can process the individual images from the cameras 10 to form the combined image, and present it to a generic video application. In this way special hardware and/or software may be avoided.
- OS computer operating systems
- Every camera has a custom "device driver”, which provides a common interface to which the OS can communicate.
- the OS provides a common interface to its applications for them to send queries and commands to the camera.
- Such layered architecture provides a standard way for the applications to access the cameras. Using a common driver interface is important for these applications to work independently of the camera vendor. It also enables these applications to continue to function with future cameras, as long as the cameras respect the common driver interface.
- the virtual camera 32 does not exist in a physical sense.
- the virtual camera 32 Instead of providing a video stream from an image sensor, which it lacks, the virtual camera 32 obtains the video streams 34 from other real cameras 30, 31 directly from their device drivers 33 or by using the common driver interface. It then combines and repackages these video streams into a single video stream, which it offers through its own common driver interface 33.
- a combined camera 32 is a virtual camera, which stitches the input video streams 34 into a combined video stream.
- the virtual camera 32 is a video processor capable of processing one or more input video streams, and outputs a single video stream.
- the virtual camera 32 appears as a regular camera, with a wide viewing angle. In this way, the image data from more than one camera 30, 31 can be processed by the virtual camera 32 such that the computer's video application 35 sees it as a single camera.
- the number of cameras involved is not limited and may be two, three, four, five, six, and so forth.
- the panorama captured by their combined field of view is not limited and may extend to 360°, and even to a sphere.
- the combined virtual camera 32 is essentially a stitcher. In real time it takes overlapping images, one from each camera, and combines them into one combined image.
- the images come from the buffers 41, 42, 43... from each camera 30, 31....
- Each image is warped (44) into an intermediate coordinate, such as the cylindrical or spherical co-ordinates, so that stitching can be reduced to a simple two-dimensional search. It then determines the overlap region of these images (45). Using the overlap region, colour correction can be performed (46) to ensure colour consistency across the images. The same colour correction, or substantially the same colour correction, is used for all subsequent images.
- the final images are then blended (47) together to form the final panorama.
- the combined virtual camera performs the overlap calculation (45) only once, and assumes that the camera positions remain the same throughout the session.
- Some video applications have format restriction. For example H.261 based video conferencing applications only accept CIF and QCIF resolution. The size and aspect ratio of the resulting combined image is likely to be different from the standard video formats. An additional stage to transform the image to the required format may also be performed, which typically involves scaling and panning.
- Figure 5 illustrates a number of different presentation styles.
- Figure 5(a) is the original combined image.
- the letterbox and pan & scan style of Figures 5(b) and 5(c) respectively resemble the approaches taken by the Digital Versatile Disc (DVD) format, to display a 16:9 image on a standard 4:3 display.
- the horizontal compression style of Figure 5(d) may be useful for recording the combined video as it captures the entire view, at the expense of some loss in image detail.
- a separate user interface may be provided to the user to enable the selection of different presentation styles.
- pan & scan (48) the user can interactively pan the panorama to select a region of interest.
- automatic panning and switching between styles can be employed at pre-set time intervals.
- Multiple styles can also be created simultaneously.
- the horizontal compressed style may be used for recording the video, while the pan & scan may be used for display.
- the virtual camera may perform the stereoscopic image formation such as, for example, by interlacing odd and even rows, and stacking the images for a top-to-bottom stereoscopy.
- the virtual camera may be used to combine or merge video from different cameras; and it may be used for the generation of lenticular stereoscopic image/video.
- the virtual camera 32 is able to convert multiple video streams into a single stream in a stereo format by performing interlacing, resizing, and translation. Resizing is preferably performed with proper filtering such as, for example, "Cubic” and “Lanczos” interpolations for upsizing, and "Box” or “Area Filter” for downsizing. Row-interlace stereoscopy format interlaces the stereo pair with odd rows representing the left eye, and even rows representing the right eye. This can be viewed using de-multiplexing equipment such as, for example, "Stereographic's SimulEyes", and that is compatible with standard video signals.
- the virtual camera 32 performs the interlacing, which involves copying pixels, and possibly resizing each line:
- Above-Below stereoscopy format requires the vertically resizing and translation of the source images, the top for the left eye, and the bottom for the right eye.
- Side-by-Side format can also be used.
- the virtual camera 32 performs scaling and translation to combine the two video streams into a single stereo video stream.
- a device capable of decoding the selected format can be used to view the stereo pair using stereo glasses.
- the cameras 10 may be digital still cameras, or digital motion picture cameras.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
- Image Processing (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2005215585A AU2005215585A1 (en) | 2004-02-19 | 2005-02-17 | Method and apparatus for providing a combined image |
GB0616491A GB2430104A (en) | 2004-02-19 | 2005-02-17 | Method and apparatus for providing a combined image |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/783,279 US20050185047A1 (en) | 2004-02-19 | 2004-02-19 | Method and apparatus for providing a combined image |
US10/783,279 | 2004-02-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005081057A1 true WO2005081057A1 (en) | 2005-09-01 |
Family
ID=34861191
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SG2005/000044 WO2005081057A1 (en) | 2004-02-19 | 2005-02-17 | Method and apparatus for providing a combined image |
Country Status (6)
Country | Link |
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US (1) | US20050185047A1 (en) |
CN (1) | CN1922544A (en) |
AU (1) | AU2005215585A1 (en) |
GB (1) | GB2430104A (en) |
TW (1) | TW200529098A (en) |
WO (1) | WO2005081057A1 (en) |
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-
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- 2005-02-17 GB GB0616491A patent/GB2430104A/en not_active Withdrawn
- 2005-02-17 CN CNA2005800053169A patent/CN1922544A/en active Pending
- 2005-02-17 AU AU2005215585A patent/AU2005215585A1/en not_active Abandoned
- 2005-02-17 WO PCT/SG2005/000044 patent/WO2005081057A1/en active Application Filing
- 2005-02-18 TW TW094104782A patent/TW200529098A/en unknown
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Also Published As
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GB2430104A (en) | 2007-03-14 |
TW200529098A (en) | 2005-09-01 |
CN1922544A (en) | 2007-02-28 |
GB0616491D0 (en) | 2006-09-27 |
US20050185047A1 (en) | 2005-08-25 |
AU2005215585A1 (en) | 2005-09-01 |
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